// Copyright (c) 2008, Willow Garage, Inc.
// All rights reserved.
//
// Software License Agreement (BSD License 2.0)
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above
//    copyright notice, this list of conditions and the following
//    disclaimer in the documentation and/or other materials provided
//    with the distribution.
//  * Neither the name of the Willow Garage nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
#ifndef DEPTH_IMAGE_PROC__POINT_CLOUD_XYZI_RADIAL_HPP_
#define DEPTH_IMAGE_PROC__POINT_CLOUD_XYZI_RADIAL_HPP_

#include <rclcpp/rclcpp.hpp>
#include <image_transport/image_transport.hpp>
#include <sensor_msgs/image_encodings.hpp>
#include <image_transport/subscriber_filter.hpp>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/exact_time.h>
#include <image_geometry/pinhole_camera_model.h>
#include <depth_image_proc/conversions.hpp>
#include <depth_image_proc/depth_traits.hpp>
#include <depth_image_proc/visibility.h>
#include <sensor_msgs/point_cloud2_iterator.hpp>
#include <memory>
#include <vector>
#include <string>
#include <limits>

namespace depth_image_proc
{

namespace enc = sensor_msgs::image_encodings;
using SyncPolicy =
  message_filters::sync_policies::ExactTime<
  sensor_msgs::msg::Image,
  sensor_msgs::msg::Image,
  sensor_msgs::msg::CameraInfo>;

class PointCloudXyziRadialNode : public rclcpp::Node
{
public:
  DEPTH_IMAGE_PROC_PUBLIC PointCloudXyziRadialNode(const rclcpp::NodeOptions & options);

private:
  using PointCloud = sensor_msgs::msg::PointCloud2;
  using Image = sensor_msgs::msg::Image;
  using CameraInfo = sensor_msgs::msg::CameraInfo;

  // Subscriptions
  image_transport::SubscriberFilter sub_depth_, sub_intensity_;
  message_filters::Subscriber<sensor_msgs::msg::CameraInfo> sub_info_;

  int queue_size_;

  // Publications
  std::mutex connect_mutex_;
  rclcpp::Publisher<PointCloud>::SharedPtr pub_point_cloud_;

  using Synchronizer = message_filters::Synchronizer<SyncPolicy>;
  std::shared_ptr<Synchronizer> sync_;

  std::vector<double> D_;
  std::array<double, 9> K_;

  uint32_t width_;
  uint32_t height_;

  cv::Mat transform_;

  void connectCb();

  void imageCb(
    const Image::ConstSharedPtr & depth_msg,
    const Image::ConstSharedPtr & intensity_msg_in,
    const CameraInfo::ConstSharedPtr & info_msg);

  rclcpp::Logger logger_ = rclcpp::get_logger("PointCloudXyziRadialNode");
};

}  // namespace depth_image_proc

#endif  // DEPTH_IMAGE_PROC__POINT_CLOUD_XYZI_RADIAL_HPP_
